mRo Pixhawk Flight Controller (Pixhawk 1)

WARNING

PX4 does not manufacture this (or any) autopilot. Contact the manufacturer (opens new window) for hardware support or compliance issues.

The mRo Pixhawk^® is a hardware compatible version of the original Pixhawk 1. It runs PX4 on the NuttX (opens new window) OS.

TIP

The controller can be used as a drop-in replacement for the 3DR^® Pixhawk 1. The main difference is that it is based on the Pixhawk-project (opens new window) FMUv3 open hardware design, which corrects a bug that limited the original Pixhawk 1 to 1MB of flash.

Assembly/setup instructions for use with PX4 are provided here: Pixhawk Wiring Quickstart

TIP

This autopilot is supported by the PX4 maintenance and test teams.

Key Features

• Microprocessor:

  • 32-bit STM32F427 Cortex^® M4 core with FPU
  • 168 MHz/256 KB RAM/2 MB Flash
  • 32 bit STM32F100 failsafe co-processor
  • 24 MHz/8 KB RAM/64 KB Flash

• Sensors:

  • ST Micro L3GD20 3-axis 16-bit gyroscope
  • ST Micro LSM303D 3-axis 14-bit accelerometer / magnetometer
  • Invensense^® MPU 6000 3-axis accelerometer/gyroscope
  • MEAS MS5611 barometer

• Interfaces:

  • 5x UART (serial ports), one high-power capable, 2x with HW flow control
  • 2x CAN
  • Spektrum DSM / DSM2 / DSM-X® Satellite compatible input up to DX8 (DX9 and above not supported)
  • Futaba^® S.BUS compatible input and output
  • PPM sum signal
  • RSSI (PWM or voltage) input
  • I2C
  • SPI
  • 3.3 and 6.6V ADC inputs
  • External microUSB port

• Power System:

  • Ideal diode controller with automatic failover
  • Servo rail high-power (7 V) and high-current ready
  • All peripheral outputs over-current protected, all inputs ESD protected

• Weight and Dimensions:

  • Weight: 38g (1.31oz)
  • Width: 50mm (1.96")
  • Thickness: 15.5mm (.613")
  • Length: 81.5mm (3.21")

Availability

• Bare Bones (opens new window) - Just the board (useful as a 3DR Pixhawk replacement)
• mRo Pixhawk 2.4.6 Essential Kit! (opens new window) - Everything except for telemetry radios
• mRo Pixhawk 2.4.6 Cool Kit! (Limited edition) (opens new window) - Everything you need including telemetry radios

Building Firmware

TIP

Most users will not need to build this firmware! It is pre-built and automatically installed by QGroundControl when appropriate hardware is connected.

To build PX4 for this target:

make px4_fmu-v3_default

Debug Ports

See 3DR Pixhawk 1 > Debug Ports

Pinouts

See 3DR Pixhawk 1 > Pinouts

Serial Port Mapping

UART	Device	Port
UART1	/dev/ttyS0	IO debug
USART2	/dev/ttyS1	TELEM1 (flow control)
USART3	/dev/ttyS2	TELEM2 (flow control)
UART4
UART7	CONSOLE
UART8	SERIAL4

Schematics

The board is based on the Pixhawk-project (opens new window) FMUv3 open hardware design.

• FMUv3 schematic (opens new window) -- Schematic and layout

Note

As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are available (opens new window).